PD57/60-1060 / TMCM-1060 TMCL™ Firmware Manual (V1.04 / 2011-AUG-29)
51
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
Global parameters of bank 3, which can be used for GGP:
Bank 3 contains interrupt parameters.
The priority of an interrupt depends on its number. Interrupts with
a lower number have a higher priority.
The following table shows all interrupt parameters that can be read.
Number
Global parameter
Description
Range
0
Timer 0 period (ms)
Time between two interrupts (ms)
0… 4.294.967.295
[ms]
1
Timer 1 period (ms)
Time between two interrupts (ms)
0… 4.294.967.295
[ms]
2
Timer 2 period (ms)
Time between two interrupts (ms)
0… 4.294.967.295
[ms]
39
Input 0 edge type
0=off,
1=low-high,
2=high-low,
3=both
0… 3
40
Input 1 edge type
0=off,
1=low-high,
2=high-low,
3=both
0… 3
Example:
Get the serial address of the target device
Mnemonic:
GGP 66, 0
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01
$0a
$42
$00
$00
$00
$00
$00
$4d
Reply:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Host-
address
Target-
address
Status Instruction Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$02
$01
$64
$0a
$00
$00
$00
$01
$72
Status=no error, Value=1
